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- .gitattributes +57 -0
- actions/locomanipulation/LM81/session_020/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM81/session_020/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM81/session_020/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM81/session_020/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM81/session_020/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomanipulation/LM81/session_020/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM81/session_020/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM81/session_020/scene/infer.json +36 -0
- actions/locomanipulation/LM81/session_020/scene/views.npz +3 -0
- actions/locomanipulation/LM81/session_020/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM81/session_020/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM81/session_020/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM81/session_020/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM81/session_020/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM81/session_020/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM81/session_020/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM81/session_020/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM81/session_020/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM81/session_020/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM81/session_020/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM81/session_020/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM81/session_020/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM81/session_020/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM81/session_021/cameras/poses.npz +3 -0
- actions/locomanipulation/LM81/session_021/meta.json +524 -0
- actions/locomanipulation/LM81/session_021/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM81/session_021/motions/markers.npz +3 -0
- actions/locomanipulation/LM81/session_021/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM81/session_021/motions/smplx.npz +3 -0
- actions/locomanipulation/LM81/session_021/raw/audio.wav +3 -0
- actions/locomanipulation/LM81/session_021/raw/manifest.json +233 -0
- actions/locomanipulation/LM81/session_021/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM81/session_021/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM81/session_021/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM81/session_021/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM81/session_021/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM81/session_021/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM81/session_021/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM81/session_021/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM81/session_021/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM81/session_021/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomanipulation/LM81/session_021/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM81/session_021/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM81/session_021/scene/infer.json +36 -0
- actions/locomanipulation/LM81/session_021/scene/views.npz +3 -0
- actions/locomanipulation/LM81/session_021/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM81/session_021/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM81/session_021/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM81/session_021/sensors/wrist_mag.npz +3 -0
.gitattributes
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actions/locomanipulation/LM81/session_019/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM81/session_020/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261008/LM81/20261008_090300_session130",
|
| 4 |
+
"session_id": "20261008_090300_session130",
|
| 5 |
+
"primitive": "LM81",
|
| 6 |
+
"batch": "20261008",
|
| 7 |
+
"participant": "wangjingjing",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "e17c9efadb69e7b1",
|
| 11 |
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"left": "452031d7af00ef6f",
|
| 12 |
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"right": "6ee5ee4472fe2ad7"
|
| 13 |
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},
|
| 14 |
+
"generated_at_utc": "2026-10-14T11:34:11.995543+00:00",
|
| 15 |
+
"generated_by": "scripts/sync_dataset.py",
|
| 16 |
+
"time_base": {
|
| 17 |
+
"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
+
"mocap_rate_hz": 120.0,
|
| 19 |
+
"first_solved_frame": 0,
|
| 20 |
+
"duration_s": 114.025,
|
| 21 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 22 |
+
},
|
| 23 |
+
"alignment": {
|
| 24 |
+
"reference_imu": "imu_head_right",
|
| 25 |
+
"model": "offset (median of windows)",
|
| 26 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 27 |
+
"offset_s": -1.172902,
|
| 28 |
+
"rate": 0.0,
|
| 29 |
+
"global_lag_s": -1.175,
|
| 30 |
+
"peak_corr": 0.9937,
|
| 31 |
+
"reference_imu_first_sample_s": 31274.180809941,
|
| 32 |
+
"windows": {
|
| 33 |
+
"n_windows": 10,
|
| 34 |
+
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|
| 35 |
+
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|
| 36 |
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|
| 37 |
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|
| 38 |
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"lag_scatter_ms": 0.2247693325911248,
|
| 39 |
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|
| 40 |
+
}
|
| 41 |
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},
|
| 42 |
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"units": {
|
| 43 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 44 |
+
"y_up_to_z_up": [
|
| 45 |
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[
|
| 46 |
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1.0,
|
| 47 |
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0.0,
|
| 48 |
+
0.0
|
| 49 |
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],
|
| 50 |
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[
|
| 51 |
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0.0,
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| 52 |
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0.0,
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| 53 |
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-1.0
|
| 54 |
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],
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| 55 |
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[
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| 56 |
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0.0,
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| 57 |
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1.0,
|
| 58 |
+
0.0
|
| 59 |
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]
|
| 60 |
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],
|
| 61 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 62 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 63 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 64 |
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| 65 |
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},
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| 66 |
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| 67 |
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"device": "e17c9efadb69e7b1",
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| 68 |
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"status": "ok",
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| 69 |
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"date": "2026-09-08"
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| 70 |
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},
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| 71 |
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| 83 |
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| 86 |
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| 87 |
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| 88 |
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| 90 |
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| 94 |
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| 103 |
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| 104 |
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| 108 |
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| 109 |
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| 110 |
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| 113 |
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| 114 |
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"file": "robocap_segment1_video_left.mp4",
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| 119 |
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| 120 |
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},
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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"timing": "pts",
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| 127 |
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| 128 |
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"file": "robocap_segment1_video_right.mp4",
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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},
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| 134 |
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| 135 |
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| 136 |
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"file": "robocap_segment1_video_left_front.mp4",
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| 146 |
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| 154 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 156 |
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| 159 |
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| 167 |
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"file": "robocap_segment1_video_left_eye.mp4",
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| 168 |
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| 169 |
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| 172 |
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},
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| 175 |
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| 176 |
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| 180 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 187 |
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| 188 |
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| 191 |
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| 192 |
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| 193 |
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"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
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| 194 |
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| 198 |
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},
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| 201 |
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| 202 |
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| 203 |
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| 204 |
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| 206 |
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"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
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| 207 |
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| 211 |
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},
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| 212 |
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"third_person": {
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| 213 |
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"file": "mocap/mocap-LM81-S03-wangjingjing-01p1-1.mp4",
|
| 214 |
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|
| 215 |
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| 216 |
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|
| 217 |
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| 218 |
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|
| 219 |
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}
|
| 220 |
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}
|
| 221 |
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},
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| 222 |
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"flags": [
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| 223 |
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"wrist_right_imu empty"
|
| 224 |
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],
|
| 225 |
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"sanity": {
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| 226 |
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"status": {
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| 227 |
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"structure": "FAIL",
|
| 228 |
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"markers": "WARN",
|
| 229 |
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"timing": "WARN"
|
| 230 |
+
},
|
| 231 |
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"verdict": "READY_WITH_WARNINGS",
|
| 232 |
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"issues": [
|
| 233 |
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"FAIL S_DB_EMPTY",
|
| 234 |
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"FAIL S_REPORT_EMPTY",
|
| 235 |
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"WARN M_SPIKES",
|
| 236 |
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"WARN M_TRACKER_LABELS",
|
| 237 |
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"WARN T_EMPTY"
|
| 238 |
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]
|
| 239 |
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},
|
| 240 |
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"canonical": {
|
| 241 |
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"generated_at_utc": "2026-10-14T12:22:53.666696+00:00",
|
| 242 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 243 |
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"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 244 |
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"R_canon_nokov": [
|
| 245 |
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[
|
| 246 |
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0.9994428949,
|
| 247 |
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-0.0333741705,
|
| 248 |
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-0.0002540905
|
| 249 |
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],
|
| 250 |
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[
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| 251 |
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0.0002540905,
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| 252 |
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0.015221649,
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| 253 |
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| 254 |
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],
|
| 255 |
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[
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| 256 |
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0.0333741705,
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0.9993270066,
|
| 258 |
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0.015221649
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| 259 |
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]
|
| 260 |
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],
|
| 261 |
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|
| 262 |
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"T_canon_nokov_mm": [
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| 263 |
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[
|
| 264 |
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0.000999442895,
|
| 265 |
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-3.3374171e-05,
|
| 266 |
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-2.5409e-07,
|
| 267 |
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0.0
|
| 268 |
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],
|
| 269 |
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[
|
| 270 |
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2.5409e-07,
|
| 271 |
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1.5221649e-05,
|
| 272 |
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-0.000999884112,
|
| 273 |
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0.0
|
| 274 |
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],
|
| 275 |
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[
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| 276 |
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3.3374171e-05,
|
| 277 |
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0.000999327007,
|
| 278 |
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1.5221649e-05,
|
| 279 |
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0.0
|
| 280 |
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],
|
| 281 |
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[
|
| 282 |
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0.0,
|
| 283 |
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0.0,
|
| 284 |
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0.0,
|
| 285 |
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1.0
|
| 286 |
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]
|
| 287 |
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],
|
| 288 |
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"block": "20261008-afternoon",
|
| 289 |
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"block_assignment": "trc",
|
| 290 |
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|
| 291 |
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|
| 292 |
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"floor": {
|
| 293 |
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"sole_marker_p1_mm": 41.0,
|
| 294 |
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|
| 295 |
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},
|
| 296 |
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"gravity_check": {
|
| 297 |
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|
| 298 |
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"g_world_mean_m_s2": [
|
| 299 |
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0.1038,
|
| 300 |
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-0.0605,
|
| 301 |
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9.7669
|
| 302 |
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],
|
| 303 |
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"tilt_from_z_deg": 0.705,
|
| 304 |
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|
| 305 |
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|
| 306 |
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},
|
| 307 |
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"rig_tracker_definition": "e17c9efadb69e7b1/20261008-afternoon/labels-530412/session-16fbb06874f06739",
|
| 308 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 309 |
+
"files": [
|
| 310 |
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"mocap_zup.npz",
|
| 311 |
+
"tracker0_zup.npz",
|
| 312 |
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"rig_zup.npz",
|
| 313 |
+
"cameras_zup.npz"
|
| 314 |
+
]
|
| 315 |
+
},
|
| 316 |
+
"smplx": {
|
| 317 |
+
"generated_at_utc": "2026-10-15T07:59:05.648741+00:00",
|
| 318 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 319 |
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"file": "smplx.npz",
|
| 320 |
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"gender": "female",
|
| 321 |
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"n_betas": 16,
|
| 322 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 323 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 324 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 325 |
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"hands": {
|
| 326 |
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"observed": false,
|
| 327 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 328 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 329 |
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"hand_marker_offsets_m": {
|
| 330 |
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"left": {
|
| 331 |
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"LHandIn": [
|
| 332 |
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0.06156955286860466,
|
| 333 |
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-0.009333801455795765,
|
| 334 |
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0.042544521391391754
|
| 335 |
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],
|
| 336 |
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"LHandOut": [
|
| 337 |
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0.07060886174440384,
|
| 338 |
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0.024291420355439186,
|
| 339 |
+
0.009860498830676079
|
| 340 |
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],
|
| 341 |
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"LWristIn": [
|
| 342 |
+
-0.018920855596661568,
|
| 343 |
+
-0.021975282579660416,
|
| 344 |
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0.008399412967264652
|
| 345 |
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],
|
| 346 |
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"LWristOut": [
|
| 347 |
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0.003971389960497618,
|
| 348 |
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0.03442202880978584,
|
| 349 |
+
0.010960957035422325
|
| 350 |
+
]
|
| 351 |
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},
|
| 352 |
+
"right": {
|
| 353 |
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"RHandIn": [
|
| 354 |
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-0.0636826679110527,
|
| 355 |
+
-0.02870427444577217,
|
| 356 |
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0.00017091604240704328
|
| 357 |
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],
|
| 358 |
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"RHandOut": [
|
| 359 |
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-0.06868715584278107,
|
| 360 |
+
0.019657684490084648,
|
| 361 |
+
0.01563876122236252
|
| 362 |
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]
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
},
|
| 366 |
+
"marker_rmse_mm": {
|
| 367 |
+
"median_frame": 3.46,
|
| 368 |
+
"p95_frame": 6.09
|
| 369 |
+
},
|
| 370 |
+
"worst_markers": [
|
| 371 |
+
"RKneeIn 9mm",
|
| 372 |
+
"WaistLBack 8mm",
|
| 373 |
+
"RThigh 8mm",
|
| 374 |
+
"LKneeIn 7mm",
|
| 375 |
+
"WaistRBack 7mm"
|
| 376 |
+
],
|
| 377 |
+
"valid_fraction": 1.0,
|
| 378 |
+
"qc": {
|
| 379 |
+
"lowest_vertex_mm": {
|
| 380 |
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"median": 10.1,
|
| 381 |
+
"p5": 0.7
|
| 382 |
+
},
|
| 383 |
+
"frames_checked": 457,
|
| 384 |
+
"stature_mm": 1502.4
|
| 385 |
+
},
|
| 386 |
+
"surface_term": {
|
| 387 |
+
"weight": 1.0,
|
| 388 |
+
"marker_height_mm": 11.0,
|
| 389 |
+
"markers_on_surface": 52,
|
| 390 |
+
"surface_rmse_mm_median": 12.93
|
| 391 |
+
},
|
| 392 |
+
"shape_source": "participant median",
|
| 393 |
+
"wrist_correction": {
|
| 394 |
+
"left": {
|
| 395 |
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"status": "corrected",
|
| 396 |
+
"Q_deg": 130.64,
|
| 397 |
+
"Q_rotvec": [
|
| 398 |
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-2.27497,
|
| 399 |
+
-0.10264,
|
| 400 |
+
0.1136
|
| 401 |
+
],
|
| 402 |
+
"in_out_sign": -1,
|
| 403 |
+
"wrist_bend_deg_median": 102.3,
|
| 404 |
+
"opposite_sign_bend_deg": 90.8,
|
| 405 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 406 |
+
"marker_frame_spread_deg": 1.11,
|
| 407 |
+
"hand_vs_marker_frame_deg": {
|
| 408 |
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"before": 130.93,
|
| 409 |
+
"after": 1.11
|
| 410 |
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